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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;utils.h&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;ydlidar_driver.h&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;math.h&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#define PropertyBuilderByName(type, name, access_permission)\</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">    access_permission:\</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">        type m_##name;\</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">    public:\</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">    inline void set##name(type v) {\</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">        m_##name = v;\</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">    }\</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">    inline type get##name() {\</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">        return m_##name;\</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">}\</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor"></span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#define DEG2RAD(x) ((x)*M_PI/180.)</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="class_c_yd_lidar.html">   21</a></span>&#160;<span class="keyword">class </span>YDLIDAR_API <a class="code" href="class_c_yd_lidar.html">CYdLidar</a></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;{</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    PropertyBuilderByName(<span class="keywordtype">float</span>,MaxRange,<span class="keyword">private</span>)</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    PropertyBuilderByName(<span class="keywordtype">float</span>,MinRange,<span class="keyword">private</span>)</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    PropertyBuilderByName(<span class="keywordtype">float</span>,MaxAngle,<span class="keyword">private</span>)</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    PropertyBuilderByName(<span class="keywordtype">float</span>,MinAngle,<span class="keyword">private</span>)</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    PropertyBuilderByName(<span class="keywordtype">int</span>,ScanFrequency,<span class="keyword">private</span>)</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    PropertyBuilderByName(<span class="keywordtype">bool</span>,Intensities,<span class="keyword">private</span>)</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    PropertyBuilderByName(<span class="keywordtype">bool</span>,FixedResolution,<span class="keyword">private</span>)</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    PropertyBuilderByName(<span class="keywordtype">bool</span>,Exposure,<span class="keyword">private</span>)</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    PropertyBuilderByName(<span class="keywordtype">bool</span>,HeartBeat,<span class="keyword">private</span>)</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    PropertyBuilderByName(<span class="keywordtype">bool</span>,Reversion, <span class="keyword">private</span>)</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    PropertyBuilderByName(<span class="keywordtype">int</span>,SerialBaudrate,<span class="keyword">private</span>)</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    PropertyBuilderByName(<span class="keywordtype">int</span>,SampleRate,<span class="keyword">private</span>)</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    PropertyBuilderByName(std::string,SerialPort,<span class="keyword">private</span>)</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    PropertyBuilderByName(std::vector&lt;float&gt;,IgnoreArray,<span class="keyword">private</span>)</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <a class="code" href="class_c_yd_lidar.html">CYdLidar</a>(); </div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keyword">virtual</span> ~<a class="code" href="class_c_yd_lidar.html">CYdLidar</a>();  </div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keywordtype">bool</span> initialize();  </div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="comment">// Return true if laser data acquistion succeeds, If it&#39;s not</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keywordtype">bool</span> doProcessSimple(<a class="code" href="struct_laser_scan.html">LaserScan</a> &amp;outscan, <span class="keywordtype">bool</span> &amp;hardwareError);</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="comment">//Turn on the motor enable</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordtype">bool</span>  turnOn();  </div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="comment">//Turn off the motor enable and close the scan</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordtype">bool</span>  turnOff(); </div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordtype">bool</span> getDeviceHealth() <span class="keyword">const</span>;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordtype">bool</span> getDeviceInfo(<span class="keywordtype">int</span> &amp;type);</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordtype">bool</span> checkHeartBeat() <span class="keyword">const</span>;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordtype">bool</span> checkScanFrequency();</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="comment">//Turn off lidar connection</span></div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordtype">void</span> disconnecting(); </div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordtype">bool</span>  checkCOMMs();</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordtype">bool</span>  checkStatus();</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordtype">bool</span> checkHardware();</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordtype">bool</span> isScanning;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordtype">int</span> node_counts ;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordtype">double</span> each_angle;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordtype">int</span> show_error;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;};  <span class="comment">// End of class</span></div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="ttc" id="struct_laser_scan_html"><div class="ttname"><a href="struct_laser_scan.html">LaserScan</a></div><div class="ttdoc">A struct for returning laser readings from the YDLIDAR. </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:199</div></div>
<div class="ttc" id="class_c_yd_lidar_html"><div class="ttname"><a href="class_c_yd_lidar.html">CYdLidar</a></div><div class="ttdef"><b>Definition:</b> CYdLidar.h:21</div></div>
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